feat(manipulation): add live voxel collision planning by TomCC7 · Pull Request #3163 · dimensionalOS/dimos

TomCC7 · 2026-07-24T05:43:48Z

Contribution path

Linked discussion: feat: visualize manipulation obstacles #3108

Problem

The xArm voxel-planning demo did not have a responsive, atomic path from live point-cloud occupancy to collision checking. Scene mutation could block IK and collision queries, camera transforms could lag or be unavailable, and the same planning occupancy appeared twice in Viser.

Solution

Add a planning collision snapshot pipeline with latest-wins staging and a stable obstacle identity.
Align obstacle replacement with WorldSpec.update_obstacle and use copy-on-write RoboPlan scene swaps so readers see the old or new scene atomically.
Decouple IK, collision checks, and scene ingestion into independent workers.
Use Pink for interactive IK while retaining RoboPlan for planning and collision checking.
Add point-cloud self-filtering, a fixed-rate TF pose source, octree support, and the xArm Viser demo blueprint.
Show one live blue planning-collision visualization and suppress the duplicate reserved red octree visualization.
Document the launch/configuration path and the snapshot lifecycle decision.

How to Test

uv run dimos run xarm-voxel-planning-viser-demo

Focused automated verification:

PYTEST_DISABLE_PLUGIN_AUTOLOAD=1 python -m pytest -p pytest_mock -o addopts='' -q \
  dimos/manipulation/planning/monitor/test_planning_collision_snapshot.py \
  dimos/manipulation/planning/monitor/test_world_monitor.py \
  dimos/manipulation/planning/world/test_drake_world_planning_groups.py \
  dimos/manipulation/test_manipulation_unit.py \
  dimos/manipulation/test_roboplan_world.py \
  dimos/manipulation/visualization \
  dimos/perception/test_point_cloud_self_filter.py \
  dimos/robot/manipulators/xarm/blueprints/test_xarm_voxel_planning_viser_demo.py

Result: 214 passed.

The three direct TfPoseSource lifecycle tests require LCM multicast sockets, which are unavailable in the coding sandbox.

AI assistance

Codex with GPT-5 implemented, debugged, tested, and prepared this change under developer direction.

Checklist

I have read and approved the CLA.

mintlify · 2026-07-24T05:44:30Z

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codecov · 2026-07-24T05:50:35Z

❌ 8 Tests Failed:

Tests completed	Failed	Passed	Skipped
3011	8	3003	176

View the top 3 failed test(s) by shortest run time

dimos.manipulation.test_pick_and_place_unit.TestFindObjectInDetections::test_empty_snapshot_returns_none

Stack Traces | 0.001s run time

@pytest.fixture
    def module() -> PickAndPlaceModule:
        """Create a PickAndPlaceModule with heavy base init (RPC, config) patched out."""
        with patch.object(ModuleBase, "__init__", lambda self, config_args: None):
>           return PickAndPlaceModule()


dimos/manipulation/test_pick_and_place_unit.py:60: 
_ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 
dimos/manipulation/pick_and_place_module.py:84: in __init__
    super().__init__(**kwargs)
        __class__  = <class 'dimos.manipulation.pick_and_place_module.PickAndPlaceModule'>
        kwargs     = {}
        self       = <dimos.manipulation.pick_and_place_module.PickAndPlaceModule object at 0xffa18dbf5be0>
_ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 

self = <dimos.manipulation.pick_and_place_module.PickAndPlaceModule object at 0xffa18dbf5be0>
kwargs = {}

    def __init__(self, **kwargs: Any) -> None:
        super().__init__(**kwargs)
    
        # State machine
        self._state = ManipulationState.IDLE
        self._lock = threading.Lock()
        # State transitions are local, but coordinator calls must be serialized
        # with cancellation.  In particular, do not let cancel race between
        # two arms of a multi-arm dispatch.
        self._execution_dispatch_lock = threading.Lock()
        self._execution_generation = 0
        self._possibly_active_tasks: set[str] = set()
        self._cancellation_in_progress = False
        self._error_message = ""
        self._planning_epoch = 0
    
        # Planning components (initialized in start())
        self._world_monitor: WorldMonitor | None = None
        self._planning_collision_snapshot = PlanningCollisionSnapshot(
>           resolution=float(getattr(self.config, "planning_voxel_resolution", 0.05)),
            planning_frame=str(getattr(self.config, "planning_world_frame", "world")),
        )
E       AttributeError: 'PickAndPlaceModule' object has no attribute 'config'

__class__  = <class 'dimos.manipulation.manipulation_module.ManipulationModule'>
kwargs     = {}
self       = <dimos.manipulation.pick_and_place_module.PickAndPlaceModule object at 0xffa18dbf5be0>

dimos/manipulation/manipulation_module.py:178: AttributeError

dimos.manipulation.test_pick_and_place_unit.TestFindObjectInDetections::test_find_by_object_id_ambiguous_returns_none

Stack Traces | 0.001s run time

@pytest.fixture
    def module() -> PickAndPlaceModule:
        """Create a PickAndPlaceModule with heavy base init (RPC, config) patched out."""
        with patch.object(ModuleBase, "__init__", lambda self, config_args: None):
>           return PickAndPlaceModule()


dimos/manipulation/test_pick_and_place_unit.py:60: 
_ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 
dimos/manipulation/pick_and_place_module.py:84: in __init__
    super().__init__(**kwargs)
        __class__  = <class 'dimos.manipulation.pick_and_place_module.PickAndPlaceModule'>
        kwargs     = {}
        self       = <dimos.manipulation.pick_and_place_module.PickAndPlaceModule object at 0xffa18dbf7f80>
_ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 

self = <dimos.manipulation.pick_and_place_module.PickAndPlaceModule object at 0xffa18dbf7f80>
kwargs = {}

    def __init__(self, **kwargs: Any) -> None:
        super().__init__(**kwargs)
    
        # State machine
        self._state = ManipulationState.IDLE
        self._lock = threading.Lock()
        # State transitions are local, but coordinator calls must be serialized
        # with cancellation.  In particular, do not let cancel race between
        # two arms of a multi-arm dispatch.
        self._execution_dispatch_lock = threading.Lock()
        self._execution_generation = 0
        self._possibly_active_tasks: set[str] = set()
        self._cancellation_in_progress = False
        self._error_message = ""
        self._planning_epoch = 0
    
        # Planning components (initialized in start())
        self._world_monitor: WorldMonitor | None = None
        self._planning_collision_snapshot = PlanningCollisionSnapshot(
>           resolution=float(getattr(self.config, "planning_voxel_resolution", 0.05)),
            planning_frame=str(getattr(self.config, "planning_world_frame", "world")),
        )
E       AttributeError: 'PickAndPlaceModule' object has no attribute 'config'

__class__  = <class 'dimos.manipulation.manipulation_module.ManipulationModule'>
kwargs     = {}
self       = <dimos.manipulation.pick_and_place_module.PickAndPlaceModule object at 0xffa18dbf7f80>

dimos/manipulation/manipulation_module.py:178: AttributeError

dimos.manipulation.test_pick_and_place_unit.TestFindObjectInDetections::test_find_by_partial_name

Stack Traces | 0.001s run time

@pytest.fixture
    def module() -> PickAndPlaceModule:
        """Create a PickAndPlaceModule with heavy base init (RPC, config) patched out."""
        with patch.object(ModuleBase, "__init__", lambda self, config_args: None):
>           return PickAndPlaceModule()


dimos/manipulation/test_pick_and_place_unit.py:60: 
_ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 
dimos/manipulation/pick_and_place_module.py:84: in __init__
    super().__init__(**kwargs)
        __class__  = <class 'dimos.manipulation.pick_and_place_module.PickAndPlaceModule'>
        kwargs     = {}
        self       = <dimos.manipulation.pick_and_place_module.PickAndPlaceModule object at 0xffa18db9c2c0>
_ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 

self = <dimos.manipulation.pick_and_place_module.PickAndPlaceModule object at 0xffa18db9c2c0>
kwargs = {}

    def __init__(self, **kwargs: Any) -> None:
        super().__init__(**kwargs)
    
        # State machine
        self._state = ManipulationState.IDLE
        self._lock = threading.Lock()
        # State transitions are local, but coordinator calls must be serialized
        # with cancellation.  In particular, do not let cancel race between
        # two arms of a multi-arm dispatch.
        self._execution_dispatch_lock = threading.Lock()
        self._execution_generation = 0
        self._possibly_active_tasks: set[str] = set()
        self._cancellation_in_progress = False
        self._error_message = ""
        self._planning_epoch = 0
    
        # Planning components (initialized in start())
        self._world_monitor: WorldMonitor | None = None
        self._planning_collision_snapshot = PlanningCollisionSnapshot(
>           resolution=float(getattr(self.config, "planning_voxel_resolution", 0.05)),
            planning_frame=str(getattr(self.config, "planning_world_frame", "world")),
        )
E       AttributeError: 'PickAndPlaceModule' object has no attribute 'config'

__class__  = <class 'dimos.manipulation.manipulation_module.ManipulationModule'>
kwargs     = {}
self       = <dimos.manipulation.pick_and_place_module.PickAndPlaceModule object at 0xffa18db9c2c0>

dimos/manipulation/manipulation_module.py:178: AttributeError

dimos.manipulation.test_pick_and_place_unit.TestPlaceBack::test_place_back_no_pick_pose_errors

Stack Traces | 0.001s run time

@pytest.fixture
    def module() -> PickAndPlaceModule:
        """Create a PickAndPlaceModule with heavy base init (RPC, config) patched out."""
        with patch.object(ModuleBase, "__init__", lambda self, config_args: None):
>           return PickAndPlaceModule()


dimos/manipulation/test_pick_and_place_unit.py:60: 
_ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 
dimos/manipulation/pick_and_place_module.py:84: in __init__
    super().__init__(**kwargs)
        __class__  = <class 'dimos.manipulation.pick_and_place_module.PickAndPlaceModule'>
        kwargs     = {}
        self       = <dimos.manipulation.pick_and_place_module.PickAndPlaceModule object at 0xffa187df9040>
_ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 

self = <dimos.manipulation.pick_and_place_module.PickAndPlaceModule object at 0xffa187df9040>
kwargs = {}

    def __init__(self, **kwargs: Any) -> None:
        super().__init__(**kwargs)
    
        # State machine
        self._state = ManipulationState.IDLE
        self._lock = threading.Lock()
        # State transitions are local, but coordinator calls must be serialized
        # with cancellation.  In particular, do not let cancel race between
        # two arms of a multi-arm dispatch.
        self._execution_dispatch_lock = threading.Lock()
        self._execution_generation = 0
        self._possibly_active_tasks: set[str] = set()
        self._cancellation_in_progress = False
        self._error_message = ""
        self._planning_epoch = 0
    
        # Planning components (initialized in start())
        self._world_monitor: WorldMonitor | None = None
        self._planning_collision_snapshot = PlanningCollisionSnapshot(
>           resolution=float(getattr(self.config, "planning_voxel_resolution", 0.05)),
            planning_frame=str(getattr(self.config, "planning_world_frame", "world")),
        )
E       AttributeError: 'PickAndPlaceModule' object has no attribute 'config'

__class__  = <class 'dimos.manipulation.manipulation_module.ManipulationModule'>
kwargs     = {}
self       = <dimos.manipulation.pick_and_place_module.PickAndPlaceModule object at 0xffa187df9040>

dimos/manipulation/manipulation_module.py:178: AttributeError

dimos.manipulation.test_pick_and_place_unit.TestFindObjectInDetections::test_find_by_exact_name

Stack Traces | 0.002s run time

@pytest.fixture
    def module() -> PickAndPlaceModule:
        """Create a PickAndPlaceModule with heavy base init (RPC, config) patched out."""
        with patch.object(ModuleBase, "__init__", lambda self, config_args: None):
>           return PickAndPlaceModule()


dimos/manipulation/test_pick_and_place_unit.py:60: 
_ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 
dimos/manipulation/pick_and_place_module.py:84: in __init__
    super().__init__(**kwargs)
        __class__  = <class 'dimos.manipulation.pick_and_place_module.PickAndPlaceModule'>
        kwargs     = {}
        self       = <dimos.manipulation.pick_and_place_module.PickAndPlaceModule object at 0xffa18dbe5f70>
_ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 

self = <dimos.manipulation.pick_and_place_module.PickAndPlaceModule object at 0xffa18dbe5f70>
kwargs = {}

    def __init__(self, **kwargs: Any) -> None:
        super().__init__(**kwargs)
    
        # State machine
        self._state = ManipulationState.IDLE
        self._lock = threading.Lock()
        # State transitions are local, but coordinator calls must be serialized
        # with cancellation.  In particular, do not let cancel race between
        # two arms of a multi-arm dispatch.
        self._execution_dispatch_lock = threading.Lock()
        self._execution_generation = 0
        self._possibly_active_tasks: set[str] = set()
        self._cancellation_in_progress = False
        self._error_message = ""
        self._planning_epoch = 0
    
        # Planning components (initialized in start())
        self._world_monitor: WorldMonitor | None = None
        self._planning_collision_snapshot = PlanningCollisionSnapshot(
>           resolution=float(getattr(self.config, "planning_voxel_resolution", 0.05)),
            planning_frame=str(getattr(self.config, "planning_world_frame", "world")),
        )
E       AttributeError: 'PickAndPlaceModule' object has no attribute 'config'

__class__  = <class 'dimos.manipulation.manipulation_module.ManipulationModule'>
kwargs     = {}
self       = <dimos.manipulation.pick_and_place_module.PickAndPlaceModule object at 0xffa18dbe5f70>

dimos/manipulation/manipulation_module.py:178: AttributeError

dimos.manipulation.test_pick_and_place_unit.TestFindObjectInDetections::test_find_by_object_id

Stack Traces | 0.002s run time

@pytest.fixture
    def module() -> PickAndPlaceModule:
        """Create a PickAndPlaceModule with heavy base init (RPC, config) patched out."""
        with patch.object(ModuleBase, "__init__", lambda self, config_args: None):
>           return PickAndPlaceModule()


dimos/manipulation/test_pick_and_place_unit.py:60: 
_ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 
dimos/manipulation/pick_and_place_module.py:84: in __init__
    super().__init__(**kwargs)
        __class__  = <class 'dimos.manipulation.pick_and_place_module.PickAndPlaceModule'>
        kwargs     = {}
        self       = <dimos.manipulation.pick_and_place_module.PickAndPlaceModule object at 0xffa18dbbc5f0>
_ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 

self = <dimos.manipulation.pick_and_place_module.PickAndPlaceModule object at 0xffa18dbbc5f0>
kwargs = {}

    def __init__(self, **kwargs: Any) -> None:
        super().__init__(**kwargs)
    
        # State machine
        self._state = ManipulationState.IDLE
        self._lock = threading.Lock()
        # State transitions are local, but coordinator calls must be serialized
        # with cancellation.  In particular, do not let cancel race between
        # two arms of a multi-arm dispatch.
        self._execution_dispatch_lock = threading.Lock()
        self._execution_generation = 0
        self._possibly_active_tasks: set[str] = set()
        self._cancellation_in_progress = False
        self._error_message = ""
        self._planning_epoch = 0
    
        # Planning components (initialized in start())
        self._world_monitor: WorldMonitor | None = None
        self._planning_collision_snapshot = PlanningCollisionSnapshot(
>           resolution=float(getattr(self.config, "planning_voxel_resolution", 0.05)),
            planning_frame=str(getattr(self.config, "planning_world_frame", "world")),
        )
E       AttributeError: 'PickAndPlaceModule' object has no attribute 'config'

__class__  = <class 'dimos.manipulation.manipulation_module.ManipulationModule'>
kwargs     = {}
self       = <dimos.manipulation.pick_and_place_module.PickAndPlaceModule object at 0xffa18dbbc5f0>

dimos/manipulation/manipulation_module.py:178: AttributeError

dimos.manipulation.test_pick_and_place_unit.TestFindObjectInDetections::test_find_missing_returns_none

Stack Traces | 0.002s run time

@pytest.fixture
    def module() -> PickAndPlaceModule:
        """Create a PickAndPlaceModule with heavy base init (RPC, config) patched out."""
        with patch.object(ModuleBase, "__init__", lambda self, config_args: None):
>           return PickAndPlaceModule()


dimos/manipulation/test_pick_and_place_unit.py:60: 
_ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 
dimos/manipulation/pick_and_place_module.py:84: in __init__
    super().__init__(**kwargs)
        __class__  = <class 'dimos.manipulation.pick_and_place_module.PickAndPlaceModule'>
        kwargs     = {}
        self       = <dimos.manipulation.pick_and_place_module.PickAndPlaceModule object at 0xffa18dc04b60>
_ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 

self = <dimos.manipulation.pick_and_place_module.PickAndPlaceModule object at 0xffa18dc04b60>
kwargs = {}

    def __init__(self, **kwargs: Any) -> None:
        super().__init__(**kwargs)
    
        # State machine
        self._state = ManipulationState.IDLE
        self._lock = threading.Lock()
        # State transitions are local, but coordinator calls must be serialized
        # with cancellation.  In particular, do not let cancel race between
        # two arms of a multi-arm dispatch.
        self._execution_dispatch_lock = threading.Lock()
        self._execution_generation = 0
        self._possibly_active_tasks: set[str] = set()
        self._cancellation_in_progress = False
        self._error_message = ""
        self._planning_epoch = 0
    
        # Planning components (initialized in start())
        self._world_monitor: WorldMonitor | None = None
        self._planning_collision_snapshot = PlanningCollisionSnapshot(
>           resolution=float(getattr(self.config, "planning_voxel_resolution", 0.05)),
            planning_frame=str(getattr(self.config, "planning_world_frame", "world")),
        )
E       AttributeError: 'PickAndPlaceModule' object has no attribute 'config'

__class__  = <class 'dimos.manipulation.manipulation_module.ManipulationModule'>
kwargs     = {}
self       = <dimos.manipulation.pick_and_place_module.PickAndPlaceModule object at 0xffa18dc04b60>

dimos/manipulation/manipulation_module.py:178: AttributeError

dimos.codebase_checks.test_no_dunder_new::test_no_dunder_new

Stack Traces | 1.52s run time

def test_no_dunder_new() -> None:
        """Fail if any test file calls `__new__` to bypass `__init__`."""
        dimos_dir = DIMOS_PROJECT_ROOT / "dimos"
        hits = find_dunder_new_calls()
        if hits:
            listing = "\n".join(
                f"  - {p.relative_to(dimos_dir)}:{lineno}: {line.strip()}" for p, lineno, line in hits
            )
>           raise AssertionError(
                f"Found __new__ call(s) in test files:\n{listing}\n\n"
                "Tests must construct objects with the real constructor: __init__ is "
                "code under test too, and an object assembled by hand silently rots "
                "when the constructor changes. If __init__ does heavy work, mock the "
                "collaborators it needs instead of skipping it. Only if that is truly "
                "impossible, add the call to the WHITELIST in "
                "dimos/codebase_checks/test_no_dunder_new.py."
            )
E           AssertionError: Found __new__ call(s) in test files:
E             - .../planning/world/test_drake_world_planning_groups.py:47: world = object.__new__(DrakeWorld)
E             - .../planning/world/test_drake_world_planning_groups.py:187: DrakeWorld._create_shape(object.__new__(DrakeWorld), obstacle)
E             - perception/test_point_cloud_self_filter.py:30: module = object.__new__(PointCloudSelfFilter)
E           
E           Tests must construct objects with the real constructor: __init__ is code under test too, and an object assembled by hand silently rots when the constructor changes. If __init__ does heavy work, mock the collaborators it needs instead of skipping it. Only if that is truly impossible, add the call to the WHITELIST in dimos/codebase_checks/test_no_dunder_new.py.

dimos_dir  = PosixPath('.../dimos/dimos/dimos')
hits       = [(PosixPath('.../dimos/dimos/dimos/.../planning/world/test_drake_world_planning_groups.py'), 47....../dimos/perception/test_point_cloud_self_filter.py'), 30, '    module = object.__new__(PointCloudSelfFilter)')]
listing    = '  - .../planning/world/test_drake_world_planning_groups.py:47: world = object.__new__(DrakeWorld)\n  - manip...akeWorld), obstacle)\n  - perception/test_point_cloud_self_filter.py:30: module = object.__new__(PointCloudSelfFilter)'

dimos/codebase_checks/test_no_dunder_new.py:67: AssertionError

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mintlify · 2026-07-24T06:22:20Z

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💡 Tip: Enable Workflows to automatically generate PRs for you.

feat(manipulation): add live voxel collision planning

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